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Pathfinder tweaks (#12848)

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This commit is contained in:
metalgearsloth
2022-12-07 10:33:44 +11:00
committed by GitHub
parent 8f641137e8
commit dd384c55a0
7 changed files with 18 additions and 17 deletions
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2
Content.Server/NPC/Components/NPCSteeringComponent.cs
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@@ -36,7 +36,7 @@ public sealed class NPCSteeringComponent : Component
/// <summary> /// <summary>
/// How far does the last node in the path need to be before considering re-pathfinding. /// How far does the last node in the path need to be before considering re-pathfinding.
/// </summary> /// </summary>
[ViewVariables(VVAccess.ReadWrite)] public float RepathRange = 1.2f; [ViewVariables(VVAccess.ReadWrite)] public float RepathRange = 1.5f;
public const int FailedPathLimit = 3; public const int FailedPathLimit = 3;

1
Content.Server/NPC/HTN/PrimitiveTasks/Operators/PickAccessibleComponentOperator.cs
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@@ -85,7 +85,6 @@ public sealed class PickAccessibleComponentOperator : HTNOperator
{ {
var path = await _pathfinding.GetRandomPath( var path = await _pathfinding.GetRandomPath(
owner, owner,
1.4f,
maxRange, maxRange,
cancelToken, cancelToken,
flags: _pathfinding.GetFlags(blackboard)); flags: _pathfinding.GetFlags(blackboard));

1
Content.Server/NPC/HTN/PrimitiveTasks/Operators/PickAccessibleOperator.cs
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@@ -45,7 +45,6 @@ public sealed class PickAccessibleOperator : HTNOperator
var path = await _pathfinding.GetRandomPath( var path = await _pathfinding.GetRandomPath(
owner, owner,
1.4f,
maxRange, maxRange,
cancelToken, cancelToken,
flags: _pathfinding.GetFlags(blackboard)); flags: _pathfinding.GetFlags(blackboard));

17
Content.Server/NPC/Pathfinding/PathRequest.cs
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@@ -33,17 +33,15 @@ public abstract class PathRequest
#region Data #region Data
public readonly PathFlags Flags; public readonly PathFlags Flags;
public readonly float Range;
public readonly int CollisionLayer; public readonly int CollisionLayer;
public readonly int CollisionMask; public readonly int CollisionMask;
#endregion #endregion
public PathRequest(EntityCoordinates start, PathFlags flags, float range, int layer, int mask, CancellationToken cancelToken) public PathRequest(EntityCoordinates start, PathFlags flags, int layer, int mask, CancellationToken cancelToken)
{ {
Start = start; Start = start;
Flags = flags; Flags = flags;
Range = range;
CollisionLayer = layer; CollisionLayer = layer;
CollisionMask = mask; CollisionMask = mask;
Tcs = new TaskCompletionSource<PathResult>(cancelToken); Tcs = new TaskCompletionSource<PathResult>(cancelToken);
@@ -54,15 +52,21 @@ public sealed class AStarPathRequest : PathRequest
{ {
public EntityCoordinates End; public EntityCoordinates End;
/// <summary>
/// How close we need to be to the end node to be considered as arrived.
/// </summary>
public float Distance;
public AStarPathRequest( public AStarPathRequest(
EntityCoordinates start, EntityCoordinates start,
EntityCoordinates end, EntityCoordinates end,
PathFlags flags, PathFlags flags,
float range, float distance,
int layer, int layer,
int mask, int mask,
CancellationToken cancelToken) : base(start, flags, range, layer, mask, cancelToken) CancellationToken cancelToken) : base(start, flags, layer, mask, cancelToken)
{ {
Distance = distance;
End = end; End = end;
} }
} }
@@ -84,10 +88,9 @@ public sealed class BFSPathRequest : PathRequest
int expansionLimit, int expansionLimit,
EntityCoordinates start, EntityCoordinates start,
PathFlags flags, PathFlags flags,
float range,
int layer, int layer,
int mask, int mask,
CancellationToken cancelToken) : base(start, flags, range, layer, mask, cancelToken) CancellationToken cancelToken) : base(start, flags, layer, mask, cancelToken)
{ {
ExpansionRange = expansionRange; ExpansionRange = expansionRange;
ExpansionLimit = expansionLimit; ExpansionLimit = expansionLimit;

9
Content.Server/NPC/Pathfinding/PathfindingSystem.AStar.cs
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@@ -82,10 +82,11 @@ public sealed partial class PathfindingSystem
// Actual pathfinding here // Actual pathfinding here
(_, currentNode) = request.Frontier.Take(); (_, currentNode) = request.Frontier.Take();
// TODO: Need this at some stage but need to fix some steering bugs first before it's useable. // If we're inside the required distance OR we're at the end node.
if (currentNode.Equals(endNode))// || if ((request.Distance > 0f &&
//(endNode.GraphUid == currentNode.GraphUid && currentNode.Coordinates.TryDistance(EntityManager, request.End, out var distance) &&
//(endNode.Box.Center - currentNode.Box.Center).Length < request.Range)) distance <= request.Distance) ||
currentNode.Equals(endNode))
{ {
arrived = true; arrived = true;
break; break;

2
Content.Server/NPC/Pathfinding/PathfindingSystem.Common.cs
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@@ -11,7 +11,7 @@ public sealed partial class PathfindingSystem
/// <summary> /// <summary>
/// Maximum amount of nodes we're allowed to expand. /// Maximum amount of nodes we're allowed to expand.
/// </summary> /// </summary>
private const int NodeLimit = 200; private const int NodeLimit = 512;
private sealed class PathComparer : IComparer<ValueTuple<float, PathPoly>> private sealed class PathComparer : IComparer<ValueTuple<float, PathPoly>>
{ {

3
Content.Server/NPC/Pathfinding/PathfindingSystem.cs
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@@ -228,7 +228,6 @@ namespace Content.Server.NPC.Pathfinding
public async Task<PathResultEvent> GetRandomPath( public async Task<PathResultEvent> GetRandomPath(
EntityUid entity, EntityUid entity,
float range,
float maxRange, float maxRange,
CancellationToken cancelToken, CancellationToken cancelToken,
int limit = 40, int limit = 40,
@@ -246,7 +245,7 @@ namespace Content.Server.NPC.Pathfinding
mask = body.CollisionMask; mask = body.CollisionMask;
} }
var request = new BFSPathRequest(maxRange, limit, start.Coordinates, flags, range, layer, mask, cancelToken); var request = new BFSPathRequest(maxRange, limit, start.Coordinates, flags, layer, mask, cancelToken);
var path = await GetPath(request); var path = await GetPath(request);
if (path.Result != PathResult.Path) if (path.Result != PathResult.Path)